Flight robust controller for Quadrotors: simulation on MS flight simulator

• Grant number: 12/20300-6
• Support type: Scholarships in Brazil - Scientific Initiation
• Effective date (Start): April 01, 2013
• Effective date (End): March 31, 2014
• Field of knowledge: Engineering - Mechanical Engineering
• Principal Investigator: Marcelo Becker
• Grantee: Arnold Tshimanga Banza
• Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil

Abstract

Today, autonomous MAVs (Mini Aerial Vehicles) are well-known as one of the most important topics in the field of mobile robotics. They have interesting applications on search-and-rescue, aerial surveillance, etc. When a mission involves risk of human lives, the importance and usefulness of this kind of vehicle is highlighted, since it does not compromise human lives. In this scenario, this project focus on the development of a full autonomous navigation system that can be applied on a MAV (a mini aerial quadrotor helicopter) that can perform flight in outdoor and unstructured environment based on IMU and GPS sensor data. Firstly, we will design and implement a dynamical model of the MAV (a Pelican MAV) using the Microsoft Flight Simulator, C#, and a MatLab-Simulink toolbox. We will also use this software to evaluate the flight stabilization controller (based on Hinf). Concluding, the results will allow us to improve the MAV dynamical model and the controller performance before embedded it in the real robot. (AU)